| 摘要 |
PROBLEM TO BE SOLVED: To ensure stability of a vehicle even when one rear wheel is damaged in the vehicle capable of steering at least left and right rear wheels independently from each other respectively. SOLUTION: The steering controller (1) is provided with left and right steering actuators (40a, 40b) for steering the left and right rear wheels in the vehicle independently from each other respectively; left and right steering angle detection means (50a, 50b) for detecting steering angles of the left and right rear wheels respectively; a vehicle speed detection means (20) for detecting a speed of the vehicle; an abnormality detection means (101) for detecting abnormality of the actuator; an operation means (102) for calculating the steering angle to be steered by the other actuator of the left and right actuators based on one steering angle corresponding to one actuator of the left and right steering angles and the vehicle speed when abnormality of one actuator of the left and right actuators is detected; and a control means (103) for controlling the other actuator so as to perform steering at the calculated steering angle. COPYRIGHT: (C)2008,JPO&INPIT |
